1861results about How to "High movement precision" patented technology

A wearable input device includes a body and a soft battery. The body is connected to the soft battery to form a collar range, and the soft battery surrounds a hand of a user. The soft battery supplies an electric power to a finger-contact control module and a wireless transmitter in the body, such that the finger-contact control module senses a movement of an object (for example, a finger) on the body, and generates a control signal corresponding to a moving position of the object, and then the wireless transmitter transmits the control signal to a computer host, thus manipulating a cursor on an operating system frame of the computer host.

An image decoding apparatus has a video data decoder for receiving and decoding encoded video data to acquire a plurality of reconstructed images; a subsidiary data decoder for receiving and decoding subsidiary data to acquire subsidiary motion information; and a resolution enhancer for generating motion vectors representing time-space correspondences between the plurality of reconstructed images, based on the subsidiary motion information acquired by the subsidiary data decoder, and for generating a high-resolution image with a spatial resolution higher than that of the plurality of reconstructed images, using the generated motion vectors and the plurality of reconstructed images acquired by the video data decoder.

A robot aided surgical system for the bone setting operation with the locking intramedullary nail is composed of multifunctional automatic operation bed, robot, bone setting regulator on said robot, bone fixing mechanism, high-accuracy full-automatic X-ray machine with C-shaped arm, navigation robot, robot controller, master hand control station, and slave hand control station.

The invention provides an automatic assembly machine for an infusion apparatus, and belongs to the technical field of medicinal instruments. The automatic assembly machine solves the problem of low automation degree of the conventional infusion apparatus assembly machine. The automatic assembly machine for the infusion apparatus comprises a frame, wherein the frame is glidingly connected with a feeding sliding table; a feeding driving mechanism is arranged between the frame and the feeding sliding table; two sides of the feeding sliding table are fixedly provided with a plurality of pairs of clamping stations distributed opposite; the inlet end of the feeding sliding table is provided with an infusion long tube feeding device; one side of the feeding sliding table is sequentially providedwith a flow box assembly device, a switching wheel assembly device, an infusion short tube assembly device and a filter assembly device; the other side of the feeding sliding table is sequentially provided with a dropping bottle assembly device, a two-way tube assembly device, an infusion medium tube assembly device and a bottle inserting needle assembly device; and the outlet end of the feeding sliding table is also provided with an unloading device for taking the assembled infusion apparatus assembly out of the clamping station. The automatic assembly machine for the infusion apparatus has high positioning accuracy, accurate clamping position and high automation degree.

The invention relates to a free 6-UPS three-linkage parallel robot, belonging to the robot and mechanical producing area. The invention is characterized in that: three couples of straight driving branches are arranged in symmetry right triangle between the upper platform (1) and the base (2), while each couple comprises: two same SPU synchronous flexible driving branch while the upper end of each branch has a ball couple, the middle has a moving couple and the lower end has a universal couple connected to the base (2); the moving couple is formed by a mechanical or hydraulic synchronous flexible driver; the distance between two ball couples of each couple of straight driving branch is the same as the distance between two universal couple vertical axles (9). The invention is characterized in less freedom, easy control, large working space, simple structure and high accuracy. The invention can be used in large radio telescope, three-dimensional measure and sensor, etc.

The invention relates to a three-degree-of-freedom parallel mechanism type dual head for five-axis machine tools, which comprises a static platform, a movable platform and four branch chains connected with the two platforms. A control method includes seven steps: (1) a Jacobian matrix is solved according to the inverse solution formula of the symmetric structure, and a corresponding model is established; (2) a Jacobian matrix is solved according to the inverse solution formula of the asymmetric structure, and a corresponding model is established; (3) a corresponding variable-structure controller is designed; (4) the tracking locus and external load of the dual head are set, and the internal force threshold of each branch chain is set; (5) the force feedback value of a force sensor on each non-redundant branch chain is acquired and compared with a set threshold; (6) according to the Jacobian matrix in the first step, the driving force of each motor is calculated, force control is adopted on the non-redundant branch chains, and position-tracking control is adopted on the redundant branch chains; (7) according to the Jacobian matrix in the second step, the driving force of each motor is calculated, position-tracking control is adopted on the non-redundant branch chains with the force feedback values larger than the threshold, and force control is adopted on the redundant branch chains and the other two non-redundant branch chains.

The invention discloses a six-degree-of-freedom multi-function loading and transporting robot. The six-degree-of-freedom multi-function loading and transporting robot comprises a mobile chassis, an anti-overturning device, an adjustable supporting seat, a rotating device, a motion executing arm, a grasping device and an electric air pump. The anti-overturning device mounted under the mobile chassis is used for preventing the robot from overturning during executing the loading and transporting tasks; the adjustable supporting seat can be used for adjusting the height and the fore-and-aft horizontal displacement of the grasping device; the rotating device is used for adjusting the left-right rotation of the grasping device; the motion executing arm is mainly used for executing the lifting and lowering tasks; and the grasping device is capable of executing the material grasping task by mechanical clamping or negative pressure adsorbing. The robot can be used for the works as material moving and carrying, material loading and unloading and the like in the logistics or industrial production and has the advantages of being high in flexibility of motion, strong in adaptability, large in anti-overturning torque, compact in structure, capable of saving storage space, convenient to adjust and control and the like. The robot is capable of overcoming the technical defects in the prior loading and transporting robot and more applicable to popularization.

Apparatus (10) for generating motion around a remote center of motion (RCM), comprising a distal link (L12, LR) arranged to revolve about the remote center of motion and to translate through the remote center of motion, a proximal link (L10, LI) arranged to revolve about a proximal center of motion (LCM), coupled to a base link, through a rotational joint (150) and a sliding joint (181), a first mechanism comprising a first link (L9, BE) pivotally coupled to the proximal link (L10) and to the distal link (L12) and operable to transfer motion of the proximal link relative to the proximal center of motion to a motion of the distal link relative to the remote center of motion by maintaining a parallelogram (PAR1), and a second mechanism operable to move the first link with two degrees of freedom in a plane parallel to the plane of motion of the proximal link, characterised in that the second mechanism comprises one link or a serial connection of links (L4, L8, L3, L7, L2, L6) connecting the base link to the first link, configured to have an orientation of instant motion which is different from an orientation of instant motion of the proximal link (L10), relative to the base link.

The invention relates to a 3D (three-dimensional) printing system structure. The 3D (three-dimensional) printing system structure comprises a lifting printing platform, a dual-screw dual-optical-axis Z-shaft driving mechanism, an X-shaft drive mechanism, a Y-shaft drive mechanism as well as a stationary object carrying platform, wherein the printing platform is provided with an X-shaft drive motor and a Y-shaft drive motor; the two motors are respectively connected to a pair of driven bearings by synchronous belts at two ends of the driving shaft; double slide shafts in the X direction and the Y direction are both provided with slide seats; two pairs of slide seats are respectively connected by an X cross beam and a Y cross beam, and the two cross beams respectively penetrate through a 3D printer head; a driving motor of the dual-screw dual-optical-axis driving mechanism and the driving shaft are connected by the synchronous belt; the position of the driving motor can be adjusted randomly. The X-shaft drive mechanism, the Y-shaft drive mechanism and the driving shaft operate individually, so that the motion modulation is reduced; the dual-screw dual-optical-axis driving mechanism has favorable stability, so that the printing platform is stressed in a balance manner; the driving in each direction is stable; the 3D printing precision is improved.

The invention relates to an operating robot comprising a base, a first arm, a second arm, a main shaft, an oscillating arm, a first rotary joint, a second rotary joint, a third rotary joint and a fourth rotary joint. The base is connected with a first arm shaft through the first rotary joint; the first arm is connected with a second arm shaft through the second rotary joint; the second arm is connected with the main shaft through the third rotary joint; the main shaft is connected with an oscillating shaft through the fourth rotary joint; at least one of the first rotary joint, the second rotary joint, the third rotary joint and the fourth rotary joint comprises a motor and a speed reduction box, wherein the speed reduction box is connected with the motor and is used for decreasing the rotation speed outputted by the motor, increasing the moment of force and driving the first arm, the second arm, the main shaft or the oscillating arm to move, and the motor is used for supplying power. The components of the novel operating robot are connected into a whole body by the four rotary joints, thus the novel operating robot has simple structure. In addition, the motor of the rotary joint is matched with the speed reduction box to control, thus the operating robot is easy to operate.

The invention discloses a parallel mechanism capable of realizing four-degree-of-freedom movement. The mechanism is characterized in that a subangle mechanism or the combination of the subangle mechanism and a parallelogram structure is adopted for a moving platform, thus the moving platform is of a rhombus structure, the relative positions of virtual central points of the structure are not changed, and only the deformation movement of relative extension and compression along the diagonal direction can be performed. The mechanism provided by the invention has the advantages of flexible movement, uniform stress, high movement accuracy; the relative movement is converted into rotation movement of an actuator through an angular magnification mechanism, moving pairs are not used in the mechanism, the defects such as nonuniform stress, great friction, short service life and the like are avoided, the integral structure has good rigidity and stability, high-speed movement can be realized easily, and requirements of complex grabbing operations are satisfied; and the mechanism has high reorganization, multiple configurations can be realized, and the clamping and rotation operations can be implemented, thus multiple choices are provided for practical applications.

The invention provides an indoor positioning system, which comprises a controller, a drive device, a rotating mechanism, a first laser range finder and a second laser range finder, wherein the controller, the drive device and the rotating mechanism are sequentially connected; the first laser range finder and the second laser range finder are respectively connected with the controller, and are fixedly arranged on the rotating mechanism; and light emitted by the first laser range finder is vertical to light emitted by the second laser range finder. The invention also provides an indoor positioning method. Due to the adoption of the technical scheme of the invention, the two vertical laser range finders can be utilized to realize positioning, the positioning accuracy is high, in addition, a direction of the light emitted by each laser range finder can be calibrated by utilizing a distance relationship between the two laser range finders and a reference edge, the calibration on the positioning system is realized by utilizing a simple structure, and the conception is novel.

The invention discloses a claw beam lifting mechanism for a forging manipulator, applied to forging industry. The claw beam lifting mechanism mainly comprises a front lifting part, a rear lifting part, a synchronous connector rod, a lifting cylinder, a pitching cylinder and a buffering part, a front fixing shaft in the front lifting part, a rear fixing shaft in the rear lifting part and the lower end of the lifting cylinder are respectively connected with a large machine frame through hinges, the synchronous connecting rod is arranged overhead and always moves in a range above a connecting line of a front fixing hinge point and a rear fixing hinge point of a claw beam lifting and pitching mechanism and the large machine frame, front ends of two buffering cylinders are respectively connected with tow front lifting connecting rods through hinges, the rear ends of the two buffering cylinders are respectively articulated with two ends of a compensating beam, and the middle part of the compensating beam is connected with the middle part of the large machine frame by a hinge through a beam fixing shaft. The claw beam lifting mechanism has novel and scientific design concept, reasonable stress application, high movement precision, simple structure, low manufacturing cost and is convenient to install, adjust and maintain. The invention not only reduces the manufacturing cost of the lifting mechanism under the condition of ensuring the movement precision, but also thoroughly solves the problems that the front fixing shaft and a shaft sleeve matched with the front fixing shaft are worn easily and a side plate of a machine needs to be thickened specifically.

An adjustable experimental platform with 3,4,5-SPS type parallel mechanism for robot, machine-tool, or sensing element is disclosed. 3,4 or 5 linear drive branches are distributed between upper platform and base in polygonaly symmetrical mode. One of 4 or 5 linear drive braches is arranged in the center of platform and base. The both ends of each branch have a ball set consisting of the rotation set A formed by connecting one end of said branch with ring frame, the rotation set B formed by connecting ring frame with supporter, and the rotation set C formed by connecting supporter with axle sleeve. The vertical and transverse pins are used to change the freedom of ball set.

The invention relates to an open-type static pressure rotating table for controlling floating degree and a manufacturing method thereof. The open-type static pressure rotating table is characterized in that: a column on the lower part of a rotary table body and the inner hole of a large gear ring forms clearance fit by a coaxial basic hole system; the large gear ring and the table are arranged ona slide carriage, and the bottom surface of the large gear ring with high planeness and roughness and a static pressure oil chamber on the upper surface of the slide carriage form a hydrostatic pressure guide rail pair; an additional axial thrust bearing structure arranged on a centering structure provides preloads for hydrostatic pressure guide rails of the table; and the bottom surface of the large gear ring is assembled and ground correctly according to design requirements till plane precision, and the upper surface of the static pressure oil chamber on the slide carriage is scraped by facing-up simultaneously to ensure the fit accuracy of the upper and lower hydrostatic pressure guide rails. In the open-type static pressure rotating table, the thrust bearing structure is adopted on the basis of a common centering shaft structure, so the initial preloads of the hydrostatic pressure guide rail pair are controlled effectively and the floating degree of the open-type static pressure rotary table is controlled effectively, the rigidity of an oil film is increased, and the motion stability, motion accuracy and unbalance load-resistant capacity of the open-type static pressure rotarytable are improved.

The invention discloses a three-freedom-degree series-parallel omni-directional mobile transfer robot. The transfer robot comprises an omni-directional mobile chassis, a main slewing gear, a lifting device, parallel working arms, a tail end slewing gear and a clamp holder. The omni-directional mobile chassis is used for executing walking and steering tasks, the lifting device is connected with the omni-directional mobile chassis through the main slewing gear, the parallel working arms installed at the top of the lifting device are connected with the clamp holder through the tail end slewing gear and are used for adjusting the operation posture of the clamp holder. A series-parallel is adopted in a robot body, and the omni-directional mobile transfer robot has the advantages of being high in rigidity, large in carrying capacity, high in motion precision, large in operation space and the like; the clamp holder has six motion ranges and three independent motion freedom degrees and is high in motion flexibility; the tri-drive omni-directional mobile chassis can realize walking tasks of moving forward, or moving backward, or turning left or turning right, and is reasonable in structural design, and high in anti-overturning ability. In addition, the omni-directional mobile transfer robot has the advantages of being convenient to manipulate, and high in adaptability to road conditions.

A method and system for an efficient transcoding of a sequence of input images in a first format to a sequence of output images in a second format are described. The method utilizes the encoding block mode, the motion vectors and the residual information extracted during the decoding of the input image that are effectively reused to select an optimal transcoding block mode and to perform selective refinement of motion vectors. A corresponding system for video transcoding is also provided.

A position detecting apparatus and method used in a navigation system, which can improve positional accuracy and bearing accuracy even in a system equipped with few sensors, are provided. A position detecting apparatus used in a navigation system for detecting a vehicle position includes: a sensor unit including a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor; and a dead reckoning calculating unit for calculating state quantity inclusive of a current vehicle position, a vehicle speed, and a vehicle attitude angle based on a signal output from each of the sensors at a predetermined periodic interval. The dead reckoning calculating unit includes: a movement calculating unit for calculating a movement during a period from a previous state quantity calculation time up to a current state quantity calculation time; a change amount detecting unit for calculating an amount of change in vehicle attitude; a movement resolving unit for resolving the movement into a vehicle longitudinal component, a vehicle lateral component, and a vehicle vertical component based on the amount of change in vehicle attitude; and a state quantity calculating unit for determining, by calculation, a vehicle position at the current state quantity calculation time using each of the components.

The invention is concerned with minimally invasive orthopaedics operation robot operated with 3D mouse, relating to landscape orientation moving groupware, reducer groupware, fluctuation moving groupware, small arm groupware, wrist groupware and 3D mouse. The 3D mouse sets on the small arm's shell of small arm groupware, the machine seat of reducer groupware connects with revolving flange of landscape orientation moving groupware, the fixing base seat of fluctuation moving groupware connects with the joint of reducer groupware through two lock poles, the sliding groove of small arm groupware connects with the C sliding groove of fluctuation moving groupware and slides in the groove, and the flange of wrist groupware connects with the output axis of reducer to small arm groupware. The robot is fit for the demand of clinic and operation with practicability and applicability. It is a orthopaedics operation robot with initiative restriction and passivity safety ensure.

The invention discloses a planetary roller screw which comprises a lead screw, a nut, two roller retainers, two elastic inner check rings, two inner gear rings and a plurality of rollers arranged between the lead screw and the nut; the two inner gear rings are respectively fixed at the two end parts of an inner hole of the nut, parallel annular tooth sockets are arranged at the middle part of the inner hole of the nut, the two roller retainers are respectively sleeved in the inner holes of the two inner gear rings and are respectively blocked and located by the two elastic inner check rings embedded in the inner gear rings, retaining holes, whose number is consistent with that of the rollers, are arranged on the roller retainers, parallel teeth embedded with the threads of the lead screw and the annular tooth sockets of the nut are arranged at the middle parts of the rollers, the two end parts of the rollers are plain spindle heads, and the plain spindle heads are respectively inserted in the retaining holes of the two roller retainers. The planetary roller screw has a reasonable structure, convenience for manufacture, high transmission efficiency, large bearing capacity, high movement precision and low manufacturing cost, so that the planetary roller screw can be extensively applied on such apparatuses as numerical control machine frames and harbor machinery, etc.

A past frame at a past time has a motion vector in a block, and a reference frame at a reference time has a different block which is a motion-compensated block identical in position to a terminal point of a motion vector in the block. When a gradient method is used to detect a motion vector in the different block in the reference frame, a motion vector which is identical in magnitude and orientation to a motion vector and whose initial point is the different block in the reference frame is used as a candidate vector for initial vectors. The present invention is applicable to a signal processing apparatus for performing frame frequency conversion from a 24P signal to a 60P signal.

A method for determining a motion estimate, comprising: capturing at least two digital images of a scene at different capture times; designating one of the digital images as a reference digital image; designating a plurality of image regions; determining motion estimates for each image region by shifting the image regions within the non-reference digital images according to each of a plurality of spatial offsets relative to the image region within the reference digital image, computing merit function values for each spatial offset providing an indication of a difference between the image region in the reference digital image and the shifted image regions, computing a fitting function that provides an estimated merit function value as a function of spatial offset; and determining the motion estimate responsive to the determined non-integer spatial offset. A combined motion estimate is determined using weighting coefficients determined responsive to the shapes of the fitting functions.

The invention provides a two-DOF moving shunt connection decoupling mechanism. The whole mechanism is fixed on a base platform by a guideway; two Y-direction guideways and a Y-direction driving device are fixed on an XOY basic platform; a Z-direction guideway is fixed on a YOZ basic platform; a Y-direction sliding block is fixed on the Y-direction guideway; two lower sliding supporters are respectively fixed on corresponding Y-direction sliding blocks; an upper supportor is connected with the two lower sliding supporters by a parallelogram mechanism consisting of 8 supporting rods and a rotation pair; an X-direction guideway is fixed on the upper supporter; an X-direction driving device is fixed on the Z-direction guideway; furthermore, a shell of the X-direction driving device is fixedly connected with the upper supporter; a movable platform is fixed on the X-direction guideway. The invention combines an isosceles triangle two-force member truss structure and the parallelogram structure, thus leading the final two-DOF moving shunt connection mechanism to have the advantages of implementing the decoupling of two-DOF, stable structure, high rigidity, good forcing characteristic, high transmission efficiency, simple structure, easy control, high operation precision and low cost.

The invention discloses a spherical hinge capable of realizing the rotation angle measurement and a measurement method of the rotation angle. The spherical hinge is characterized in that a ball seat provided with a ball socket therein is formed by a base and an end closure, a ball head is placed in the ball socket, a spherical crown is exposed at an opening of the end closure, and the top surface of the spherical crown of the ball head is connected to a ball-jointed rod; the ball head and the ball socket are concentric, and the ball head can concentrically rotate relatively to the ball socket; permanent magnets are embedded and uniformly distributed on the surface of a low half ball of the ball head; magnetic effect sensors are embedded and uniformly distributed on the surface of the ball socket; sensing output signals of the magnetic effect sensors are used for judging the relative location between the ball head and the ball socket and the direction of the relative movement. The spherical hinge can be used for realizing the three-dimensional angle measurement under the condition of having no influence on the movement accuracy and the mechanical property of ball joints and no damage on the structures of the ball joints.

The invention discloses a decoupling 6D force feedback device of a sliding block type structure. The device is composed of a fixed base, a three-degree-of-freedom parallel mobile unit, and a three-degree-of-freedom parallel-serial rotation unit, wherein, the three-degree-of-freedom parallel mobile unit comprises three mutually orthogonal branches, each of the branches is guided to a sliding block by a column guide rail driven by a mobile drive motor, a double-link end is articulated with the sliding block, and the other end is connected with a rotation base by a U-shaped block, the three-degree-of-freedom parallel-serial rotation unit are driven by three rotary drive motors, the rotation base is respectively connected with a first arc rod and a third arc rod by a support hinge A and a support hinge B, the first arc rod is connected with a transfer platform by a long shaft, a second arc rod is connected with the transfer platform by a mid-length shaft, the third arc rod is connected with the second arc rod by a short shaft, and the transfer platform is in serial connection with a moving platform. The device can achieve unconditional decoupling with six degrees of freedom, and has the advantages of simple structure, easy control, high movement accuracy, lower cost and the like.

A first angle-detecting unit outputs a first rotation angle according to the rotation angle of a rotation shaft of a servo motor. A second angle-detecting unit outputs a second rotation angle according to a rotation angle of a rotation shaft of a reduction gear. A torque calculation unit calculates the torque acting on the rotation shaft of the reduction gear according to the angle difference between the first rotation angle and the second rotation angle. An angle-control unit generates a torque reference value according to the difference between the angle reference value and the second rotation angle. A torque control unit generates a current reference value according to the difference between the torque reference value and the torque.

The invention discloses an indoor track type intelligent patrolling robot system based on a combined track. The system comprises the combined track and a robot body. The robot body comprises a drive system, a detecting assembly, a holder, a synchronous belt system, a movable platform and a control system, wherein the control system is arranged on the movable platform, the holder is fixed to the upper end of the movable platform, the detecting assembly is fixed to the holder, the synchronous belt system is fixedly connected with the combined track, the driving system is fixed to the movable platform, the movable platform is placed on the combined track, and the drive system provides power to enable a robot to move along the combined track. The wall-mounted combined track is adopted, the robot can move in two or more vertical planes, the combined mode meets the diverse and complex detecting requirements of indoor equipment detection, and according to the actual detecting requirement, a horizontal track or a vertical track can be independently taken out to independently form a system detection robot system.

An encoding target region in an image can be partitioned into a plurality of prediction regions. Based on prediction information of a neighboring region neighboring a target region, the number of previously-encoded prediction regions in the target region, and previously-encoded prediction information of the target region, a candidate for motion information to be used in generation of a predicted signal of the target prediction region as a next prediction region is selected from previously-encoded motion information of regions neighboring the target prediction region. According to the number of candidates for motion information selected, merging block information to indicate generation of the predicted signal of the target prediction region using the selected candidate for motion information and motion information detected by prediction information estimation means, or either one of the merging block information or the motion information is encoded.

A plane parallel type three-freedom-degree precise positioning work table has three flexible branched chains which are total the same in structure and respectively and correspondingly arranged on the inner sides of three equal sides of a base of a triangular structure and a movable platform arranged on the inner sides of the three flexible branch chains and arranged at the center of the base, wherein the base, the three flexible branched chains and the movable platform are integrally formed, the three flexible branched chains are in flexible connection with the base, displacement input ends of the three flexible branched chains respectively correspond to three included angles of the base, the movable platform is in flexible connection with the three flexible branched chains, a groove is formed between the inner side of each included angle of the base and the corresponding flexible branched chain, a piezoelectric ceramic driver is horizontally arranged in the groove, one end of the piezoelectric ceramic driver is in hertz contact with the displacement input ends of the flexible branched chains, and the other end of the piezoelectric ceramic driver is fixedly connected on the base through bolts. The plane parallel type three-freedom-degree precise positioning work table is compact in structure, flexible to control, high in static and dynamic stiffness, high in kinematic accuracy, low in inertia, free of error accumulation, free of friction and heating and fast in responding.

The invention provides an inspection system and an inspection method of a valve hall robot based on a video monitoring linkage system. The inspection system comprises a linkage analysis control host, a communication server and an auxiliary fixed point monitoring subsystem; an inspection robot comprises a robot terminal system; the robot terminal system comprised a track; a moving mechanism, a motion driving mechanism and a detection mechanism are arranged on the track; the inspection system and the inspection method have the advantage that real-time unmanned detection requirement of valve hall equipment is met; by coordinating inspection of the robot with a fixed point camera, the problems that the monitoring range is limited and the geographic position of substation equipment is not convenient for arrangement of monitoring points are solved; the problems that the abnormality cannot be autonomously identified as well as intelligent linkage security and protection, firefighting and online equipment management system are solved; fires are monitored by using a mixing mode of a visible light video and a thermal infrared imager, so the fires can be reduced; according to the inspection system and the inspection method provided by the invention, by adopting double detection of the visible light video and an infrared thermal video, the false alarm rate of fire alarms is reduced, and the processing efficiency of the fire alarms is improved.